// Copyright 2021 Tier IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef TOOLS__UNKNOWN_POSE_HPP_
#define TOOLS__UNKNOWN_POSE_HPP_

#ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
#include "QObject"

#include "rclcpp/node.hpp"

#include "rviz_default_plugins/tools/pose/pose_tool.hpp"
#include "rviz_common/properties/float_property.hpp"
#include "rviz_common/properties/string_property.hpp"
#endif

#include "dummy_perception_publisher/msg/object.hpp"

namespace rviz_plugins
{
class UnknownInitialPoseTool : public rviz_default_plugins::tools::PoseTool
{
  Q_OBJECT

public:
  UnknownInitialPoseTool();
  virtual ~UnknownInitialPoseTool() {}
  virtual void onInitialize();

protected:
  virtual void onPoseSet(double x, double y, double theta);

private Q_SLOTS:
  void updateTopic();

private:
  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Publisher<dummy_perception_publisher::msg::Object>::SharedPtr dummy_object_info_pub_;

  rviz_common::properties::StringProperty * topic_property_;
  rviz_common::properties::FloatProperty * std_dev_x_;
  rviz_common::properties::FloatProperty * std_dev_y_;
  rviz_common::properties::FloatProperty * std_dev_z_;
  rviz_common::properties::FloatProperty * std_dev_theta_;
  rviz_common::properties::FloatProperty * position_z_;
  rviz_common::properties::FloatProperty * velocity_;
};

}  // namespace rviz_plugins

#endif  // TOOLS__UNKNOWN_POSE_HPP_
